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<div class="title">centroid.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2009-present, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_COMMON_IMPL_CENTROID_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_COMMON_IMPL_CENTROID_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="centroid_8h.html">pcl/common/centroid.h</a>&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/conversions.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;boost/mpl/size.hpp&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="group__common.html#gaf5729fae15603888b49743b118025290">   50</a></span>&#160;<a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (<a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointT&gt;</a> &amp;cloud_iterator,</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                        Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;{</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  <span class="comment">// Initialize to 0</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  centroid.setZero ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordtype">unsigned</span> cp = 0;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160; </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  <span class="keywordflow">while</span> (cloud_iterator.isValid ())</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  {</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="keywordflow">if</span> (pcl::isFinite (*cloud_iterator))</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      centroid[0] += cloud_iterator-&gt;x;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      centroid[1] += cloud_iterator-&gt;y;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      centroid[2] += cloud_iterator-&gt;z;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      ++cp;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    ++cloud_iterator;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  }</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  centroid /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (cp);</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  centroid[3] = 1;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  <span class="keywordflow">return</span> (cp);</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;}</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="group__common.html#ga26f5d53ac5362b04a5c8ed68c4c39038">   79</a></span>&#160;<a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                        Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;{</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="keywordflow">if</span> (cloud.empty ())</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160; </div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="comment">// Initialize to 0</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  centroid.setZero ();</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;    {</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      centroid[0] += cloud[i].x;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      centroid[1] += cloud[i].y;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;      centroid[2] += cloud[i].z;</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    centroid /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (cloud.size ());</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    centroid[3] = 1;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.size ()));</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  {</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordtype">unsigned</span> cp = 0;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    {</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud [i]))</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      centroid[0] += cloud[i].x;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      centroid[1] += cloud[i].y;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      centroid[2] += cloud[i].z;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      ++cp;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;    }</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    centroid /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (cp);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    centroid[3] = 1;</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    <span class="keywordflow">return</span> (cp);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  }</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;}</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="group__common.html#gaef1048c26d7ee3cad4ae9436d1f4a5d6">  126</a></span>&#160;<a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;                        Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;{</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160; </div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="comment">// Initialize to 0</span></div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  centroid.setZero ();</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  {</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      centroid[0] += cloud[indices[i]].x;</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      centroid[1] += cloud[indices[i]].y;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      centroid[2] += cloud[indices[i]].z;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    }</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    centroid /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    centroid[3] = 1;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices.size ()));</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  }</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  {</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    <span class="keywordtype">unsigned</span> cp = 0;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    {</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud [indices[i]]))</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      centroid[0] += cloud[indices[i]].x;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      centroid[1] += cloud[indices[i]].y;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      centroid[2] += cloud[indices[i]].z;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;      ++cp;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;    }</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;    centroid /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (cp);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    centroid[3] = 1;</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">return</span> (cp);</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;}</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="group__common.html#ga057c72764dfcd1276f7fe19bbfb380a7">  171</a></span>&#160;<a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;                        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;                        Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;{</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a> (cloud, indices.indices, centroid));</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;}</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span></div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;                              <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;                              Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;{</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordflow">if</span> (cloud.empty ())</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  <span class="comment">// Initialize to 0</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;  covariance_matrix.setZero ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  <span class="keywordtype">unsigned</span> point_count;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  {</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    point_count = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span><span class="keyword">&gt;</span> (cloud.size ());</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; point_count; ++i)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      Eigen::Matrix&lt;Scalar, 4, 1&gt; pt;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      pt[0] = cloud[i].x - centroid[0];</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      pt[1] = cloud[i].y - centroid[1];</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      pt[2] = cloud[i].z - centroid[2];</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      covariance_matrix (1, 1) += pt.y () * pt.y ();</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      covariance_matrix (1, 2) += pt.y () * pt.z ();</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;      covariance_matrix (2, 2) += pt.z () * pt.z ();</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;      pt *= pt.x ();</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      covariance_matrix (0, 0) += pt.x ();</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      covariance_matrix (0, 1) += pt.y ();</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      covariance_matrix (0, 2) += pt.z ();</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  }</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  {</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    point_count = 0;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;    {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud [i]))</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      Eigen::Matrix&lt;Scalar, 4, 1&gt; pt;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;      pt[0] = cloud[i].x - centroid[0];</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      pt[1] = cloud[i].y - centroid[1];</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;      pt[2] = cloud[i].z - centroid[2];</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160; </div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      covariance_matrix (1, 1) += pt.y () * pt.y ();</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      covariance_matrix (1, 2) += pt.y () * pt.z ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160; </div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      covariance_matrix (2, 2) += pt.z () * pt.z ();</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      pt *= pt.x ();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;      covariance_matrix (0, 0) += pt.x ();</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      covariance_matrix (0, 1) += pt.y ();</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;      covariance_matrix (0, 2) += pt.z ();</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      ++point_count;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    }</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  covariance_matrix (1, 0) = covariance_matrix (0, 1);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  covariance_matrix (2, 0) = covariance_matrix (0, 2);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  covariance_matrix (2, 1) = covariance_matrix (1, 2);</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">return</span> (point_count);</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;}</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160; </div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"><a class="line" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">  251</a></span>&#160;<a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;                                        <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;                                        Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;{</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;  <span class="keywordtype">unsigned</span> point_count = <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (cloud, centroid, covariance_matrix);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  <span class="keywordflow">if</span> (point_count != 0)</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    covariance_matrix /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  <span class="keywordflow">return</span> (point_count);</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;}</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00263"></a><span class="lineno"><a class="line" href="group__common.html#ga73df83248bb8d4e74347822811be9359">  263</a></span>&#160;<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;                              <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                              <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;                              Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;{</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  <span class="comment">// Initialize to 0</span></div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;  covariance_matrix.setZero ();</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;  <span class="keywordtype">size_t</span> point_count;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="comment">// If the data is dense, we don&#39;t need to check for NaN</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    point_count = indices.size ();</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;    <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; point_count; ++i)</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;    {</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      Eigen::Matrix&lt;Scalar, 4, 1&gt; pt;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;      pt[0] = cloud[indices[i]].x - centroid[0];</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      pt[1] = cloud[indices[i]].y - centroid[1];</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      pt[2] = cloud[indices[i]].z - centroid[2];</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;      covariance_matrix (1, 1) += pt.y () * pt.y ();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      covariance_matrix (1, 2) += pt.y () * pt.z ();</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160; </div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      covariance_matrix (2, 2) += pt.z () * pt.z ();</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160; </div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;      pt *= pt.x ();</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;      covariance_matrix (0, 0) += pt.x ();</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      covariance_matrix (0, 1) += pt.y ();</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;      covariance_matrix (0, 2) += pt.z ();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    }</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  }</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <span class="comment">// NaN or Inf values could exist =&gt; check for them</span></div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  {</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    point_count = 0;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;    <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    {</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;      <span class="comment">// Check if the point is invalid</span></div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud[indices[i]]))</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      Eigen::Matrix&lt;Scalar, 4, 1&gt; pt;</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      pt[0] = cloud[indices[i]].x - centroid[0];</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      pt[1] = cloud[indices[i]].y - centroid[1];</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      pt[2] = cloud[indices[i]].z - centroid[2];</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      covariance_matrix (1, 1) += pt.y () * pt.y ();</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;      covariance_matrix (1, 2) += pt.y () * pt.z ();</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      covariance_matrix (2, 2) += pt.z () * pt.z ();</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;      pt *= pt.x ();</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      covariance_matrix (0, 0) += pt.x ();</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;      covariance_matrix (0, 1) += pt.y ();</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;      covariance_matrix (0, 2) += pt.z ();</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;      ++point_count;</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    }</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  covariance_matrix (1, 0) = covariance_matrix (0, 1);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  covariance_matrix (2, 0) = covariance_matrix (0, 2);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;  covariance_matrix (2, 1) = covariance_matrix (1, 2);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_count));</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;}</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00334"></a><span class="lineno"><a class="line" href="group__common.html#ga35305b1593d5417be615e940383f4ced">  334</a></span>&#160;<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;                              <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;                              <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                              Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;{</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (cloud, indices.indices, centroid, covariance_matrix));</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;}</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00344"></a><span class="lineno"><a class="line" href="group__common.html#gad8f6fde995ab21ab95267c22c7b12c90">  344</a></span>&#160;<a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;                                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;                                        <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;                                        Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;{</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;  <span class="keywordtype">unsigned</span> point_count = <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (cloud, indices, centroid, covariance_matrix);</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;  <span class="keywordflow">if</span> (point_count != 0)</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    covariance_matrix /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;  <span class="keywordflow">return</span> (point_count);</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;}</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00358"></a><span class="lineno"><a class="line" href="group__common.html#gadfb4158efe784f3d3a765f0747b13a80">  358</a></span>&#160;<a class="code" href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;                                        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;                                        <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;                                        Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;{</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_count = <a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (cloud, indices.indices, centroid, covariance_matrix);</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  <span class="keywordflow">if</span> (point_count != 0)</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;    covariance_matrix /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160; </div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  <span class="keywordflow">return</span> point_count;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;}</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00372"></a><span class="lineno"><a class="line" href="group__common.html#ga5956698bec9ece7a491ad2fbbfbe6bc1">  372</a></span>&#160;<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;                              Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;{</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="comment">// create the buffer on the stack which is much faster than using cloud[indices[i]] and centroid as a buffer</span></div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  Eigen::Matrix&lt;Scalar, 1, 6, Eigen::RowMajor&gt; accu = Eigen::Matrix&lt;Scalar, 1, 6, Eigen::RowMajor&gt;::Zero ();</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160; </div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_count;</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  {</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;    point_count = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.size ());</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;    <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; point_count; ++i)</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;    {</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;      accu [0] += cloud[i].x * cloud[i].x;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;      accu [1] += cloud[i].x * cloud[i].y;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;      accu [2] += cloud[i].x * cloud[i].z;</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;      accu [3] += cloud[i].y * cloud[i].y;</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      accu [4] += cloud[i].y * cloud[i].z;</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      accu [5] += cloud[i].z * cloud[i].z;</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    }</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  }</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;  {</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;    point_count = 0;</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;    {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud[i]))</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;      accu [0] += cloud[i].x * cloud[i].x;</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      accu [1] += cloud[i].x * cloud[i].y;</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;      accu [2] += cloud[i].x * cloud[i].z;</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;      accu [3] += cloud[i].y * cloud[i].y;</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;      accu [4] += cloud[i].y * cloud[i].z;</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;      accu [5] += cloud[i].z * cloud[i].z;</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;      ++point_count;</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;  }</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160; </div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;  <span class="keywordflow">if</span> (point_count != 0)</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  {</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;    accu /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;    covariance_matrix.coeffRef (0) = accu [0];</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;    covariance_matrix.coeffRef (1) = covariance_matrix.coeffRef (3) = accu [1];</div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;    covariance_matrix.coeffRef (2) = covariance_matrix.coeffRef (6) = accu [2];</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;    covariance_matrix.coeffRef (4) = accu [3];</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;    covariance_matrix.coeffRef (5) = covariance_matrix.coeffRef (7) = accu [4];</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;    covariance_matrix.coeffRef (8) = accu [5];</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;  }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;  <span class="keywordflow">return</span> (point_count);</div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;}</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00426"></a><span class="lineno"><a class="line" href="group__common.html#gac33176152049aa1f63867afae8225000">  426</a></span>&#160;<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;                              <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;                              Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;{</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;  <span class="comment">// create the buffer on the stack which is much faster than using cloud[indices[i]] and centroid as a buffer</span></div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;  Eigen::Matrix&lt;Scalar, 1, 6, Eigen::RowMajor&gt; accu = Eigen::Matrix&lt;Scalar, 1, 6, Eigen::RowMajor&gt;::Zero ();</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160; </div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160;  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> point_count;</div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;  {</div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;    point_count = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;    {</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160;      <span class="comment">//const PointT&amp; point = cloud[*iIt];</span></div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;      accu [0] += cloud[*iIt].x * cloud[*iIt].x;</div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;      accu [1] += cloud[*iIt].x * cloud[*iIt].y;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;      accu [2] += cloud[*iIt].x * cloud[*iIt].z;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;      accu [3] += cloud[*iIt].y * cloud[*iIt].y;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      accu [4] += cloud[*iIt].y * cloud[*iIt].z;</div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      accu [5] += cloud[*iIt].z * cloud[*iIt].z;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;    }</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;  }</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;  {</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;    point_count = 0;</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;    {</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud[*iIt]))</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160; </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;      ++point_count;</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      accu [0] += cloud[*iIt].x * cloud[*iIt].x;</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;      accu [1] += cloud[*iIt].x * cloud[*iIt].y;</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      accu [2] += cloud[*iIt].x * cloud[*iIt].z;</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      accu [3] += cloud[*iIt].y * cloud[*iIt].y;</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      accu [4] += cloud[*iIt].y * cloud[*iIt].z;</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;      accu [5] += cloud[*iIt].z * cloud[*iIt].z;</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;    }</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;  }</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;  <span class="keywordflow">if</span> (point_count != 0)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;  {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;    accu /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;    covariance_matrix.coeffRef (0) = accu [0];</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;    covariance_matrix.coeffRef (1) = covariance_matrix.coeffRef (3) = accu [1];</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    covariance_matrix.coeffRef (2) = covariance_matrix.coeffRef (6) = accu [2];</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;    covariance_matrix.coeffRef (4) = accu [3];</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;    covariance_matrix.coeffRef (5) = covariance_matrix.coeffRef (7) = accu [4];</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;    covariance_matrix.coeffRef (8) = accu [5];</div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;  }</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;  <span class="keywordflow">return</span> (point_count);</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;}</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160; </div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00480"></a><span class="lineno"><a class="line" href="group__common.html#gacf3ff94b2145fb22871e41e87ee495b2">  480</a></span>&#160;<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;                              <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;                              Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix)</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;{</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">computeCovarianceMatrix</a> (cloud, indices.indices, covariance_matrix));</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;}</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00489"></a><span class="lineno"><a class="line" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">  489</a></span>&#160;<a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;                                     Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix,</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;                                     Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;{</div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;  <span class="comment">// create the buffer on the stack which is much faster than using cloud[indices[i]] and centroid as a buffer</span></div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;  Eigen::Matrix&lt;Scalar, 1, 9, Eigen::RowMajor&gt; accu = Eigen::Matrix&lt;Scalar, 1, 9, Eigen::RowMajor&gt;::Zero ();</div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;  <span class="keywordtype">size_t</span> point_count;</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;  {</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;    point_count = cloud.size ();</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;    <span class="comment">// For each point in the cloud</span></div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; point_count; ++i)</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;    {</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;      accu [0] += cloud[i].x * cloud[i].x;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;      accu [1] += cloud[i].x * cloud[i].y;</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;      accu [2] += cloud[i].x * cloud[i].z;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;      accu [3] += cloud[i].y * cloud[i].y; <span class="comment">// 4</span></div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;      accu [4] += cloud[i].y * cloud[i].z; <span class="comment">// 5</span></div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      accu [5] += cloud[i].z * cloud[i].z; <span class="comment">// 8</span></div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      accu [6] += cloud[i].x;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      accu [7] += cloud[i].y;</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      accu [8] += cloud[i].z;</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;    }</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;  }</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160;  {</div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;    point_count = 0;</div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;    {</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud[i]))</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160; </div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;      accu [0] += cloud[i].x * cloud[i].x;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      accu [1] += cloud[i].x * cloud[i].y;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;      accu [2] += cloud[i].x * cloud[i].z;</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      accu [3] += cloud[i].y * cloud[i].y;</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      accu [4] += cloud[i].y * cloud[i].z;</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;      accu [5] += cloud[i].z * cloud[i].z;</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;      accu [6] += cloud[i].x;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;      accu [7] += cloud[i].y;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;      accu [8] += cloud[i].z;</div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;      ++point_count;</div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;    }</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;  }</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160;  accu /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;  <span class="keywordflow">if</span> (point_count != 0)</div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;  {</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    <span class="comment">//centroid.head&lt;3&gt; () = accu.tail&lt;3&gt; ();    -- does not compile with Clang 3.0</span></div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;    centroid[0] = accu[6]; centroid[1] = accu[7]; centroid[2] = accu[8];</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;    centroid[3] = 1;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;    covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;    covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;    covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;    covariance_matrix.coeffRef (4) = accu [3] - accu [7] * accu [7];</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;    covariance_matrix.coeffRef (5) = accu [4] - accu [7] * accu [8];</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;    covariance_matrix.coeffRef (8) = accu [5] - accu [8] * accu [8];</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;    covariance_matrix.coeffRef (3) = covariance_matrix.coeff (1);</div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;    covariance_matrix.coeffRef (6) = covariance_matrix.coeff (2);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;    covariance_matrix.coeffRef (7) = covariance_matrix.coeff (5);</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;  }</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_count));</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;}</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00554"></a><span class="lineno"><a class="line" href="group__common.html#gad2138293b6dd302ceaa128fae950f27d">  554</a></span>&#160;<a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;                                     <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;                                     Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix,</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;                                     Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;{</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;  <span class="comment">// create the buffer on the stack which is much faster than using cloud[indices[i]] and centroid as a buffer</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;  Eigen::Matrix&lt;Scalar, 1, 9, Eigen::RowMajor&gt; accu = Eigen::Matrix&lt;Scalar, 1, 9, Eigen::RowMajor&gt;::Zero ();</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;  <span class="keywordtype">size_t</span> point_count;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;  {</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;    point_count = indices.size ();</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;    {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="comment">//const PointT&amp; point = cloud[*iIt];</span></div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      accu [0] += cloud[*iIt].x * cloud[*iIt].x;</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;      accu [1] += cloud[*iIt].x * cloud[*iIt].y;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;      accu [2] += cloud[*iIt].x * cloud[*iIt].z;</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;      accu [3] += cloud[*iIt].y * cloud[*iIt].y;</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;      accu [4] += cloud[*iIt].y * cloud[*iIt].z;</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;      accu [5] += cloud[*iIt].z * cloud[*iIt].z;</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      accu [6] += cloud[*iIt].x;</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;      accu [7] += cloud[*iIt].y;</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;      accu [8] += cloud[*iIt].z;</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;    }</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;  }</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;  {</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;    point_count = 0;</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;    <span class="keywordflow">for</span> (std::vector&lt;int&gt;::const_iterator iIt = indices.begin (); iIt != indices.end (); ++iIt)</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;    {</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;      <span class="keywordflow">if</span> (!isFinite (cloud[*iIt]))</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;        <span class="keywordflow">continue</span>;</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160; </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;      ++point_count;</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;      accu [0] += cloud[*iIt].x * cloud[*iIt].x;</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;      accu [1] += cloud[*iIt].x * cloud[*iIt].y;</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;      accu [2] += cloud[*iIt].x * cloud[*iIt].z;</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;      accu [3] += cloud[*iIt].y * cloud[*iIt].y; <span class="comment">// 4</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;      accu [4] += cloud[*iIt].y * cloud[*iIt].z; <span class="comment">// 5</span></div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;      accu [5] += cloud[*iIt].z * cloud[*iIt].z; <span class="comment">// 8</span></div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;      accu [6] += cloud[*iIt].x;</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;      accu [7] += cloud[*iIt].y;</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      accu [8] += cloud[*iIt].z;</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;    }</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;  }</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160; </div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;  accu /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (point_count);</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;  <span class="comment">//Eigen::Vector3f vec = accu.tail&lt;3&gt; ();</span></div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;  <span class="comment">//centroid.head&lt;3&gt; () = vec;//= accu.tail&lt;3&gt; ();</span></div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;  <span class="comment">//centroid.head&lt;3&gt; () = accu.tail&lt;3&gt; ();    -- does not compile with Clang 3.0</span></div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;  centroid[0] = accu[6]; centroid[1] = accu[7]; centroid[2] = accu[8];</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;  centroid[3] = 1;</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;  covariance_matrix.coeffRef (0) = accu [0] - accu [6] * accu [6];</div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;  covariance_matrix.coeffRef (1) = accu [1] - accu [6] * accu [7];</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;  covariance_matrix.coeffRef (2) = accu [2] - accu [6] * accu [8];</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;  covariance_matrix.coeffRef (4) = accu [3] - accu [7] * accu [7];</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;  covariance_matrix.coeffRef (5) = accu [4] - accu [7] * accu [8];</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;  covariance_matrix.coeffRef (8) = accu [5] - accu [8] * accu [8];</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  covariance_matrix.coeffRef (3) = covariance_matrix.coeff (1);</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;  covariance_matrix.coeffRef (6) = covariance_matrix.coeff (2);</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;  covariance_matrix.coeffRef (7) = covariance_matrix.coeff (5);</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160; </div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (point_count));</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;}</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160; </div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span></div>
<div class="line"><a name="l00621"></a><span class="lineno"><a class="line" href="group__common.html#gac4d7bf1a81f21fb97505c91957b7f033">  621</a></span>&#160;<a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160;                                     <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;                                     Eigen::Matrix&lt;Scalar, 3, 3&gt; &amp;covariance_matrix,</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;                                     Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00625"></a><span class="lineno">  625</span>&#160;{</div>
<div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">computeMeanAndCovarianceMatrix</a> (cloud, indices.indices, covariance_matrix, centroid));</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;}</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160; </div>
<div class="line"><a name="l00630"></a><span class="lineno">  630</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00631"></a><span class="lineno"><a class="line" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">  631</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointT&gt;</a> &amp;cloud_iterator,</div>
<div class="line"><a name="l00632"></a><span class="lineno">  632</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00633"></a><span class="lineno">  633</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out,</div>
<div class="line"><a name="l00634"></a><span class="lineno">  634</span>&#160;                       <span class="keywordtype">int</span> npts)</div>
<div class="line"><a name="l00635"></a><span class="lineno">  635</span>&#160;{</div>
<div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;  <span class="comment">// Calculate the number of points if not given</span></div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;  <span class="keywordflow">if</span> (npts == 0)</div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;  {</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;    <span class="keywordflow">while</span> (cloud_iterator.isValid ())</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;    {</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;      ++npts;</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      ++cloud_iterator;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;    }</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;    cloud_iterator.reset ();</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;  }</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160; </div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;  <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (npts);</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;  <span class="comment">// Subtract the centroid from cloud_in</span></div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;  <span class="keywordflow">while</span> (cloud_iterator.isValid ())</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;  {</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;    cloud_out[i].x = cloud_iterator-&gt;x - centroid[0];</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;    cloud_out[i].y = cloud_iterator-&gt;y - centroid[1];</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;    cloud_out[i].z = cloud_iterator-&gt;z - centroid[2];</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;    ++i;</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;    ++cloud_iterator;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;  }</div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = cloud_out.size ();</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = 1;</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;}</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160; </div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00664"></a><span class="lineno"><a class="line" href="group__common.html#ga7953d5001218e840a3a10a2c8649461e">  664</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;{</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;  cloud_out = cloud_in;</div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160; </div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;  <span class="comment">// Subtract the centroid from cloud_in</span></div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); ++i)</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;  {</div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;    cloud_out[i].x -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (centroid[0]);</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;    cloud_out[i].y -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (centroid[1]);</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;    cloud_out[i].z -= <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (centroid[2]);</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;  }</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;}</div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160; </div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00681"></a><span class="lineno"><a class="line" href="group__common.html#gab6c182905d630aa151bac567011b93d5">  681</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160;{</div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">header</a>;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>;</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;  <span class="keywordflow">if</span> (indices.size () == cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ())</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;  {</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = cloud_in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;  }</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;  {</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>    = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;    cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>   = 1;</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;  }</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;  cloud_out.<a class="code" href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">resize</a> (indices.size ());</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160; </div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;  <span class="comment">// Subtract the centroid from cloud_in</span></div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;  {</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;    cloud_out[i].x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (cloud_in[indices[i]].x - centroid[0]);</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;    cloud_out[i].y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (cloud_in[indices[i]].y - centroid[1]);</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;    cloud_out[i].z = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (cloud_in[indices[i]].z - centroid[2]);</div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;  }</div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;}</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160; </div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00711"></a><span class="lineno"><a class="line" href="group__common.html#ga516ff833c2593ba6e53d369b25989f81">  711</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;                       <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a>&amp; indices,</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;                       <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_out)</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;{</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">demeanPointCloud</a> (cloud_in, indices.indices, centroid, cloud_out));</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;}</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160; </div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00721"></a><span class="lineno"><a class="line" href="group__common.html#ga553c2ce698f074fe38d74f01b57a3343">  721</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<a class="code" href="classpcl_1_1_const_cloud_iterator.html">ConstCloudIterator&lt;PointT&gt;</a> &amp;cloud_iterator,</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;                       Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out,</div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;                       <span class="keywordtype">int</span> npts)</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;{</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;  <span class="comment">// Calculate the number of points if not given</span></div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;  <span class="keywordflow">if</span> (npts == 0)</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160;  {</div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;    <span class="keywordflow">while</span> (cloud_iterator.isValid ())</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;    {</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;      ++npts;</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;      ++cloud_iterator;</div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;    }</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;    cloud_iterator.reset ();</div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;  }</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160; </div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;  cloud_out = Eigen::Matrix&lt;Scalar, 4, Eigen::Dynamic&gt;::Zero (4, npts);        <span class="comment">// keep the data aligned</span></div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160; </div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;  <span class="keywordtype">int</span> i = 0;</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;  <span class="keywordflow">while</span> (cloud_iterator.isValid ())</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;  {</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;    cloud_out (0, i) = cloud_iterator-&gt;x - centroid[0];</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;    cloud_out (1, i) = cloud_iterator-&gt;y - centroid[1];</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;    cloud_out (2, i) = cloud_iterator-&gt;z - centroid[2];</div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;    ++i;</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;    ++cloud_iterator;</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;  }</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;}</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160; </div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00752"></a><span class="lineno"><a class="line" href="group__common.html#gae19c71709093628e61037337056b99fa">  752</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160;                       Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out)</div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;{</div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160;  <span class="keywordtype">size_t</span> npts = cloud_in.size ();</div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160; </div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;  cloud_out = Eigen::Matrix&lt;Scalar, 4, Eigen::Dynamic&gt;::Zero (4, npts);        <span class="comment">// keep the data aligned</span></div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160; </div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; npts; ++i)</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;  {</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;    cloud_out (0, i) = cloud_in[i].x - centroid[0];</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;    cloud_out (1, i) = cloud_in[i].y - centroid[1];</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160;    cloud_out (2, i) = cloud_in[i].z - centroid[2];</div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;    <span class="comment">// One column at a time</span></div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160;    <span class="comment">//cloud_out.block&lt;4, 1&gt; (0, i) = cloud_in.points[i].getVector4fMap () - centroid;</span></div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;  }</div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160; </div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160;  <span class="comment">// Make sure we zero the 4th dimension out (1 row, N columns)</span></div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;  <span class="comment">//cloud_out.block (3, 0, 1, npts).setZero ();</span></div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160;}</div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160; </div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00775"></a><span class="lineno"><a class="line" href="group__common.html#ga79129774e295b6a11559bed8dc5f0b48">  775</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;                       <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;                       Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out)</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;{</div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;  <span class="keywordtype">size_t</span> npts = indices.size ();</div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160; </div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;  cloud_out = Eigen::Matrix&lt;Scalar, 4, Eigen::Dynamic&gt;::Zero (4, npts);        <span class="comment">// keep the data aligned</span></div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160; </div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; npts; ++i)</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160;  {</div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;    cloud_out (0, i) = cloud_in[indices[i]].x - centroid[0];</div>
<div class="line"><a name="l00787"></a><span class="lineno">  787</span>&#160;    cloud_out (1, i) = cloud_in[indices[i]].y - centroid[1];</div>
<div class="line"><a name="l00788"></a><span class="lineno">  788</span>&#160;    cloud_out (2, i) = cloud_in[indices[i]].z - centroid[2];</div>
<div class="line"><a name="l00789"></a><span class="lineno">  789</span>&#160;    <span class="comment">// One column at a time</span></div>
<div class="line"><a name="l00790"></a><span class="lineno">  790</span>&#160;    <span class="comment">//cloud_out.block&lt;4, 1&gt; (0, i) = cloud_in.points[indices[i]].getVector4fMap () - centroid;</span></div>
<div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;  }</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160; </div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;  <span class="comment">// Make sure we zero the 4th dimension out (1 row, N columns)</span></div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160;  <span class="comment">//cloud_out.block (3, 0, 1, npts).setZero ();</span></div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;}</div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160; </div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00799"></a><span class="lineno"><a class="line" href="group__common.html#ga539a53e4b17ad9ed2f00ae8b2e464221">  799</a></span>&#160;<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud_in,</div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;                       <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices,</div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;                       <span class="keyword">const</span> Eigen::Matrix&lt;Scalar, 4, 1&gt; &amp;centroid,</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160;                       Eigen::Matrix&lt;Scalar, Eigen::Dynamic, Eigen::Dynamic&gt; &amp;cloud_out)</div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;{</div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a> (cloud_in, indices.indices, centroid, cloud_out));</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160;}</div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160; </div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00809"></a><span class="lineno"><a class="line" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">  809</a></span>&#160;<a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">pcl::computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;                        Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;{</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160; </div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;  <span class="comment">// Get the size of the fields</span></div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;  centroid.setZero (boost::mpl::size&lt;FieldList&gt;::value);</div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160; </div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;  <span class="keywordflow">if</span> (cloud.empty ())</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;  <span class="keywordtype">int</span> size = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (cloud.size ());</div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; size; ++i)</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;  {</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;    <span class="comment">// Iterate over each dimension</span></div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;    pcl::for_each_type&lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_centroid_functor.html">NdCentroidFunctor&lt;PointT, Scalar&gt;</a> (cloud[i], centroid));</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;  }</div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;  centroid /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (size);</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;}</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160; </div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00831"></a><span class="lineno"><a class="line" href="group__common.html#gaf936744f1fa429ebc22c2544e0d0a747">  831</a></span>&#160;<a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">pcl::computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud, </div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;                        <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices,</div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;                        Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;{</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;  <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList&lt;PointT&gt;::type</a> FieldList;</div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160; </div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;  <span class="comment">// Get the size of the fields</span></div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;  centroid.setZero (boost::mpl::size&lt;FieldList&gt;::value);</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160; </div>
<div class="line"><a name="l00840"></a><span class="lineno">  840</span>&#160;  <span class="keywordflow">if</span> (indices.empty ())</div>
<div class="line"><a name="l00841"></a><span class="lineno">  841</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00842"></a><span class="lineno">  842</span>&#160;  <span class="comment">// Iterate over each point</span></div>
<div class="line"><a name="l00843"></a><span class="lineno">  843</span>&#160;  <span class="keywordtype">int</span> nr_points = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (indices.size ());</div>
<div class="line"><a name="l00844"></a><span class="lineno">  844</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_points; ++i)</div>
<div class="line"><a name="l00845"></a><span class="lineno">  845</span>&#160;  {</div>
<div class="line"><a name="l00846"></a><span class="lineno">  846</span>&#160;    <span class="comment">// Iterate over each dimension</span></div>
<div class="line"><a name="l00847"></a><span class="lineno">  847</span>&#160;    pcl::for_each_type &lt;FieldList&gt; (<a class="code" href="structpcl_1_1_nd_centroid_functor.html">NdCentroidFunctor&lt;PointT, Scalar&gt;</a> (cloud[indices[i]], centroid));</div>
<div class="line"><a name="l00848"></a><span class="lineno">  848</span>&#160;  }</div>
<div class="line"><a name="l00849"></a><span class="lineno">  849</span>&#160;  centroid /= <span class="keyword">static_cast&lt;</span>Scalar<span class="keyword">&gt;</span> (nr_points);</div>
<div class="line"><a name="l00850"></a><span class="lineno">  850</span>&#160;}</div>
<div class="line"><a name="l00851"></a><span class="lineno">  851</span>&#160; </div>
<div class="line"><a name="l00853"></a><span class="lineno">  853</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Scalar&gt; <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00854"></a><span class="lineno"><a class="line" href="group__common.html#ga9654681b5a78f1e3ad5566de05e1d638">  854</a></span>&#160;<a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">pcl::computeNDCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a> &amp;cloud,</div>
<div class="line"><a name="l00855"></a><span class="lineno">  855</span>&#160;                        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_indices.html">pcl::PointIndices</a> &amp;indices, </div>
<div class="line"><a name="l00856"></a><span class="lineno">  856</span>&#160;                        Eigen::Matrix&lt;Scalar, Eigen::Dynamic, 1&gt; &amp;centroid)</div>
<div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;{</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;  <span class="keywordflow">return</span> (<a class="code" href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">pcl::computeNDCentroid</a> (cloud, indices.indices, centroid));</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;}</div>
<div class="line"><a name="l00860"></a><span class="lineno">  860</span>&#160; </div>
<div class="line"><a name="l00862"></a><span class="lineno">  862</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00863"></a><span class="lineno"><a class="line" href="group__common.html#ga65222f7a25f5de1aff9b07d2aea361b1">  863</a></span>&#160;<a class="code" href="group__common.html#ga65222f7a25f5de1aff9b07d2aea361b1">pcl::computeCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>&amp; cloud,</div>
<div class="line"><a name="l00864"></a><span class="lineno">  864</span>&#160;                      PointOutT&amp; centroid)</div>
<div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;{</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;  <a class="code" href="classpcl_1_1_centroid_point.html">pcl::CentroidPoint&lt;PointInT&gt;</a> cp;</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160; </div>
<div class="line"><a name="l00868"></a><span class="lineno">  868</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00869"></a><span class="lineno">  869</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00870"></a><span class="lineno">  870</span>&#160;      cp.add (cloud[i]);</div>
<div class="line"><a name="l00871"></a><span class="lineno">  871</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00872"></a><span class="lineno">  872</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; cloud.size (); ++i)</div>
<div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;      <span class="keywordflow">if</span> (pcl::isFinite (cloud[i]))</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;        cp.add (cloud[i]);</div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160; </div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;  cp.get (centroid);</div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;  <span class="keywordflow">return</span> (cp.getSize ());</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;}</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160; </div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>InT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>OutT&gt; <span class="keywordtype">size_t</span></div>
<div class="line"><a name="l00882"></a><span class="lineno"><a class="line" href="group__common.html#ga02e71a096abe1156be18c6322c0728c0">  882</a></span>&#160;<a class="code" href="group__common.html#ga65222f7a25f5de1aff9b07d2aea361b1">pcl::computeCentroid</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointInT&gt;</a>&amp; cloud,</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;                      <span class="keyword">const</span> std::vector&lt;int&gt;&amp; indices,</div>
<div class="line"><a name="l00884"></a><span class="lineno">  884</span>&#160;                      PointOutT&amp; centroid)</div>
<div class="line"><a name="l00885"></a><span class="lineno">  885</span>&#160;{</div>
<div class="line"><a name="l00886"></a><span class="lineno">  886</span>&#160;  <a class="code" href="classpcl_1_1_centroid_point.html">pcl::CentroidPoint&lt;PointInT&gt;</a> cp;</div>
<div class="line"><a name="l00887"></a><span class="lineno">  887</span>&#160; </div>
<div class="line"><a name="l00888"></a><span class="lineno">  888</span>&#160;  <span class="keywordflow">if</span> (cloud.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a>)</div>
<div class="line"><a name="l00889"></a><span class="lineno">  889</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00890"></a><span class="lineno">  890</span>&#160;      cp.add (cloud[indices[i]]);</div>
<div class="line"><a name="l00891"></a><span class="lineno">  891</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00892"></a><span class="lineno">  892</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; indices.size (); ++i)</div>
<div class="line"><a name="l00893"></a><span class="lineno">  893</span>&#160;      <span class="keywordflow">if</span> (pcl::isFinite (cloud[indices[i]]))</div>
<div class="line"><a name="l00894"></a><span class="lineno">  894</span>&#160;        cp.add (cloud[indices[i]]);</div>
<div class="line"><a name="l00895"></a><span class="lineno">  895</span>&#160; </div>
<div class="line"><a name="l00896"></a><span class="lineno">  896</span>&#160;  cp.get (centroid);</div>
<div class="line"><a name="l00897"></a><span class="lineno">  897</span>&#160;  <span class="keywordflow">return</span> (cp.getSize ());</div>
<div class="line"><a name="l00898"></a><span class="lineno">  898</span>&#160;}</div>
<div class="line"><a name="l00899"></a><span class="lineno">  899</span>&#160; </div>
<div class="line"><a name="l00900"></a><span class="lineno">  900</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_COMMON_IMPL_CENTROID_H_</span></div>
<div class="line"><a name="l00901"></a><span class="lineno">  901</span>&#160; </div>
<div class="ttc" id="acentroid_8h_html"><div class="ttname"><a href="centroid_8h.html">centroid.h</a></div></div>
<div class="ttc" id="aclasspcl_1_1_centroid_point_html"><div class="ttname"><a href="classpcl_1_1_centroid_point.html">pcl::CentroidPoint</a></div><div class="ttdef"><b>Definition:</b> centroid.h:1038</div></div>
<div class="ttc" id="aclasspcl_1_1_const_cloud_iterator_html"><div class="ttname"><a href="classpcl_1_1_const_cloud_iterator.html">pcl::ConstCloudIterator</a></div><div class="ttdoc">Iterator class for point clouds with or without given indices</div><div class="ttdef"><b>Definition:</b> cloud_iterator.h:122</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2d60b6927b31ef89cd3b97e8173ea4aa"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2d60b6927b31ef89cd3b97e8173ea4aa">pcl::PointCloud::resize</a></div><div class="ttdeci">void resize(size_t n)</div><div class="ttdoc">Resize the cloud</div><div class="ttdef"><b>Definition:</b> point_cloud.h:455</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a82e0be055a617e5e74102ed62712b352"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a82e0be055a617e5e74102ed62712b352">pcl::PointCloud::header</a></div><div class="ttdeci">pcl::PCLHeader header</div><div class="ttdoc">The point cloud header. It contains information about the acquisition time.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:407</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="agroup__common_html_ga4d047d6f7b50a2d81306cc59ac927179"><div class="ttname"><a href="group__common.html#ga4d047d6f7b50a2d81306cc59ac927179">pcl::computeNDCentroid</a></div><div class="ttdeci">void computeNDCentroid(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, Eigen::Dynamic, 1 &gt; &amp;centroid)</div><div class="ttdoc">General, all purpose nD centroid estimation for a set of points using their indices.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:809</div></div>
<div class="ttc" id="agroup__common_html_ga65222f7a25f5de1aff9b07d2aea361b1"><div class="ttname"><a href="group__common.html#ga65222f7a25f5de1aff9b07d2aea361b1">pcl::computeCentroid</a></div><div class="ttdeci">size_t computeCentroid(const pcl::PointCloud&lt; PointInT &gt; &amp;cloud, PointOutT &amp;centroid)</div><div class="ttdef"><b>Definition:</b> centroid.hpp:863</div></div>
<div class="ttc" id="agroup__common_html_ga72dfb6e965df9752c88790e026a8ab5f"><div class="ttname"><a href="group__common.html#ga72dfb6e965df9752c88790e026a8ab5f">pcl::computeMeanAndCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeMeanAndCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the normalized 3x3 covariance matrix and the centroid of a given set of points in a single lo...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:489</div></div>
<div class="ttc" id="agroup__common_html_ga7f82fbd4e17063ab86287a2543bdea88"><div class="ttname"><a href="group__common.html#ga7f82fbd4e17063ab86287a2543bdea88">pcl::demeanPointCloud</a></div><div class="ttdeci">void demeanPointCloud(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, int npts=0)</div><div class="ttdoc">Subtract a centroid from a point cloud and return the de-meaned representation</div><div class="ttdef"><b>Definition:</b> centroid.hpp:631</div></div>
<div class="ttc" id="agroup__common_html_gab5ea605f439a80daf6348547379bad8e"><div class="ttname"><a href="group__common.html#gab5ea605f439a80daf6348547379bad8e">pcl::computeCovarianceMatrixNormalized</a></div><div class="ttdeci">unsigned int computeCovarianceMatrixNormalized(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute normalized the 3x3 covariance matrix of a given set of points. The result is returned as a Ei...</div><div class="ttdef"><b>Definition:</b> centroid.hpp:251</div></div>
<div class="ttc" id="agroup__common_html_gac36b146ec26b1ceb7be43a9ecaa010c4"><div class="ttname"><a href="group__common.html#gac36b146ec26b1ceb7be43a9ecaa010c4">pcl::computeCovarianceMatrix</a></div><div class="ttdeci">unsigned int computeCovarianceMatrix(const pcl::PointCloud&lt; PointT &gt; &amp;cloud, const Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid, Eigen::Matrix&lt; Scalar, 3, 3 &gt; &amp;covariance_matrix)</div><div class="ttdoc">Compute the 3x3 covariance matrix of a given set of points. The result is returned as a Eigen::Matrix...</div></div>
<div class="ttc" id="agroup__common_html_gaf5729fae15603888b49743b118025290"><div class="ttname"><a href="group__common.html#gaf5729fae15603888b49743b118025290">pcl::compute3DCentroid</a></div><div class="ttdeci">unsigned int compute3DCentroid(ConstCloudIterator&lt; PointT &gt; &amp;cloud_iterator, Eigen::Matrix&lt; Scalar, 4, 1 &gt; &amp;centroid)</div><div class="ttdoc">Compute the 3D (X-Y-Z) centroid of a set of points and return it as a 3D vector.</div><div class="ttdef"><b>Definition:</b> centroid.hpp:50</div></div>
<div class="ttc" id="astructpcl_1_1_nd_centroid_functor_html"><div class="ttname"><a href="structpcl_1_1_nd_centroid_functor.html">pcl::NdCentroidFunctor</a></div><div class="ttdoc">Helper functor structure for n-D centroid estimation.</div><div class="ttdef"><b>Definition:</b> centroid.h:842</div></div>
<div class="ttc" id="astructpcl_1_1_point_indices_html"><div class="ttname"><a href="structpcl_1_1_point_indices.html">pcl::PointIndices</a></div><div class="ttdef"><b>Definition:</b> PointIndices.h:13</div></div>
<div class="ttc" id="astructpcl_1_1traits_1_1field_list_html"><div class="ttname"><a href="structpcl_1_1traits_1_1field_list.html">pcl::traits::fieldList</a></div><div class="ttdef"><b>Definition:</b> point_traits.h:177</div></div>
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